ZhengLiu-cart/IK_qp
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ik success bug identified.

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This commit is contained in:
LiuzhengSJ
2026-07-06 11:10:35 +01:00
parent fb414078f1
commit e06e48f21b
3 changed files with 32 additions and 26 deletions
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3
kine_ctrl/rm75_kine_rm.py
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@ -137,7 +137,8 @@ class rm75_kine_api():
# print(f'target pose is {target}, fk pose is {pose_fk}, dis of poses is {pose_dis}')
#
# print(f'\nin the rm75_kine_rm, l133, inverse_kinematics, q_ref = {q_ref}, target = {target} phi = {phi}, q_out = {q_out}, ret = {ret}\n\n')
if ret < 0:
# print(f'the tool frame is {self.robot_kine_rm.rm_algo_get_curr_toolframe()}')
if int(ret) < 0:
return ret, [ q/180*math.pi for q in q_out]
elif pose_dis < 0.01:
return ret, [ q/180*math.pi for q in q_out]